Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators

Human-robot interaction has been widely studied, where compliant and safe human-robot interaction of continuum manipulators in the constrained environment is one of the key issues that have not been well addressed. In this study, finite-time observer-based variable impedance control of cable-driven...

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Veröffentlicht in:	IEEE transactions on human-machine systems 2022-02, Vol.52 (1), p.26-40
Hauptverfasser:	Liang, Xu, He, Guangping, Su, Tingting, Wang, Weiqun, Huang, Can, Zhao, Quanliang, Hou, Zeng-Guang
Format:	Artikel
Sprache:	eng
Schlagworte:	Compliant robots Constraints continuum manipulators control Controllers finite-time stabilization Impedance Kinematics Manipulator dynamics Manipulators Mathematical models Observers Robot arms Robots Robustness (mathematics) Task analysis variable impedance
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